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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4io.c
* Top-level logic for the PX4IO module.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <nuttx/clock.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <stm32_uart.h>
#include "px4io.h"
__EXPORT int user_start(int argc, char *argv[]);
extern void up_cxxinitialize(void);
struct sys_state_s system_state;
static struct hrt_call serial_dma_call;
int user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
up_cxxinitialize();
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* default to 50 Hz PWM outputs */
system_state.servo_rate = 50;
/* configure the high-resolution time/callout interface */
hrt_init();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
/* print some startup info */
lib_lowprintf("\nPX4IO: starting\n");
/* default all the LEDs to off while we start */
LED_AMBER(false);
LED_BLUE(false);
LED_SAFETY(false);
/* turn on servo power */
POWER_SERVO(true);
/* start the safety switch handler */
safety_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
/* start the flight control signal handler */
task_create("FCon",
SCHED_PRIORITY_DEFAULT,
1024,
(main_t)controls_main,
NULL);
struct mallinfo minfo = mallinfo();
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
/* start the i2c test code */
i2c_init();
/* we're done here, go run the communications loop */
comms_main();
}
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